Tesla’s IPO filing gives the dates. Martin Eberhard and Marc Tarpenning incorporated the company in 2003. Musk led its Series A financing in February 2004 and became chairman of the board. He became chief executive in October 2008, during the financial crisis, when the company was short of cash. [1][4]
Eberhard sued Musk in 2009. The settlement that September let five people use the co-founder title: Eberhard, Tarpenning, Ian Wright, JB Straubel and Musk. [2]
Musk’s 2006 “Secret Master Plan” spelled out the strategy before it happened: build an expensive sports car, use the money to build a cheaper car, then a cheaper one still, and add solar power. The Roadster, Model S, Model 3 and Model Y followed that path. [3]

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